Steering mechanism



A. D. TRENOR.

STEERING-MECHANISM.

APPLICATION FILED 0cT.29,1915. RENEWED FEB. 8, 1922.

1,428,568. Patented Sept.- 12, 1922.

2 SHEETSSHEET 1.

Mata: $6 Q g N INVENTOR N QWM 1 HIS ATTUH/I/EY A. D. TRENOR.

STEERING MECHANISM.

APPLICATION FILED OCT. 29, 1915. RENEWED FEB.8,1922.

2 SHEETSSHEET 2.

IN VE/V TOR HIS ATTORNEY Be it known that I, ALBERT Patented Sept. l2, i322.

ALBERT D. TREENO'R, 0F

NEW" YORK, I l. 5., ASSIGIDit 3J0 35333331" HAYS HAMMOND, 5B).

OF GLOUCE3'EER, MASSACHUSETTS.

fiTEERING MECHANISM.

Application filed butcher 29, 1915, fierial No. 58,595. Renewed February 8, 1922. Serial No. 535,933.

To all whom it may concern D. Tnnuon,..a citizen of the United States, and a resident of the city, county, and State of New York, have invented a certain new and useful Steering Mechanism, of which the following is a specification.

Some of the objects of this invention are to provide improved means whereby a movable body, such for instance as a marine vessel, an aeroplane, or any other dirigible or movable body, may be automatically stabilized with respect to a given axis; to provide improved means whereby such a movable body may be either stabilized automatically or selectively rotated with respect to a given axis; to provide means whereby a movable body may be either maintained automatically upon a predetermined course or steered away from that course in response to radiant energy of any known or suitable form or forms; and to provide other improvements as will appear hereinafter.

In 'the accompanying drawings, Fig. 1 is a diagrammatic plan view partly in section of a system of control constructed in accordance with this invention; and Figs. 2 and 3 are an enlarged top plan view and a correspondingly enlarged fragmentary side elevation respectively of a detail of the same; Fig. 3 being partly in vertical central section on line 3-3 of Fig. 2; and Fig. 4 is a section on line 4-4 of Fig. 1.

Referring to the drawings, one embodiment of this invention comprises a rudder 10 or other suitable element adapted either to stabilize a movable body with respect to a given axis or to rotate the body with respect to that axis. For the sake of definiteness and brevity, it will be assumed that in the form of the invention illustrated the element 10 is a substantially vertical rudder which is suitably mounted upon a marine vessel (not shown), to swing with respect thereto about a substantially vertical axis fixed with respect thereto on a pivot 11 to control the direction of movement of the body.

For swinging the rudder 19 on its pivot 11, the rudder is provided with a crank arm 12 projecting laterally and transversely therefrom and rigid therewith, which is pivotally connected at its free end as at 13, with one end of'a link 14 the other end of which is pivotally connected to a cross head 15 which is arranged on the movable body to of automatically controlling the movement.

reciprocate with respect thereto in a prede termmed' path fixed with respect to the ves sel, and extending substantlally longitudinally thereof. For reciprocating the cross head 15, the cross head 15 is rigidly conso nected to'one end of a piston rod 16 the other end of which is provided. witha piston 17 which is arranged to reciprocate in a cylinder 18 fixedly mounted upon the vessel.

A tank 25 or other source of supply of air or other fluid under pressure is fixedly mounted upon the vessel, and between the tank 25 and the cylinder 18 is a rotary cylin drical valve 30 arranged in a fluid valve casmg 31 which is connected to the opposite 7a ends of the cylinder 18 by two pipes 32 and 33, to the tank 25 by a pipe 34 and to other elements of the system as will be described hereinafter.

For automatically controlling the rudder 10 to maintain the vessel substantially upon a predetermined course, a gyroscope or other suitable direction maintaining means (not shown) is mounted upon the vessel and is provided wlth or is operatively connected 1n any well known or suitable manner to a substantially vertical stem 35, which is loosely arranged in a bearing 35 fixed to the body of the vessel, and as a result of the action of the gyroscope, is held against rotation about its longitudinal'axis in space. Extending upwardl from the stem 35 is a spindle 36, rigid an coaxial with the upper end of which is a disc 37 Loosely surrounding the spindle 36 and fixedly secured to the body of the vessel is a sleeve 39 the upper portion of which is enlarged and in the form of a disc 40. The sleeve 39 holds the spindle- 36 in longitudinal alinement with the stem 35 but permits of the rotation of the spindle 36 about its longitudinal axis with respect to the stem 35.

For rendering the gyroscope either effective or ineffective to perform its function of the vessel, the lower portion of the spindle 36 is enlarged and hollow formin a cylinder 41 provided at its lower end wit 1 a head 42 tightly threaded thereon. A piston 45 is arranged to reciprocate in the cylinder 41. and is pressed upwardly by a spring 46. A vertical piston rod 47 has its upper end secured to the piston 45 and its lower end secured to a clutch member 48 which is surrounded by and arranged to cooperate with 110 a hollow clutch member 49 rigidly'securedtq the upper end of the gyroscope stem 35, the

former clutch member being normally pressed upwardly by the spring 46 and nor- 'mally acting to clamp the hollow clutch. member 49 against the head 42 and thus cause the spindle 36 to be controlled by the gyroscope stem 35. A passage 50 leads upwardly from the upper end of the cylinder 41 and communicates at all times through an annular.

rom and is rigid with the'lower disc and free from the upper disc 37. The upper portion of this bracket extends inwardly and terminates in an oblong port-ion spaced centrally about the upper disc 37. Pivotally connected as at 54 to this oblong portion of the bracket 53 to swing with respect thereto about parallel axes are two downwardly depending arms 55 between the lower ends of which are arranged two rollers 56 which are arranged to rotate freely upon two studs 57 rigid with the upper disc 37. The lower ends of the arms 55 are yieldingl pressed inwardly against one or both of the rollers by means of opposed spiral springs 58 which loosely surround a rod 59 which is provided ateach end with a head, and which fits loosely through apertures provided therefor in the arms 55. The springs 58 are sufficiently yielding to permit theupper disc 37 to be rotated by the gyroscope when clamped to the stem 35, but the force of the springs is sufficient to return the disc 37 to the initial position shown when the upper disc 37 has been disconnected from the stem 35.

For automatically controlling the rudder in response to the action of the gyroscope, the upper disc 37 is provided with two segmental contacts 60, 61, rigidly secured thereto but insulated therefrom and spaced a smalldistance apart, by means of a spacing strip 62 of insulation. Arranged in sliding engagementwith the segmental contacts 60, 61., are a plurality of yielding resilient contacts 65, 66, 67, 68, 69, 70 and 71, which are rigidly secured to but insulated from the lower disc 40, the portions .of the yielding contacts which engage a ainst the segmental contacts being slight y narrower than the insulation 62 between the segmental contacts so that no one of the yielding contacts will engage both segmental contacts at'the same time. A series of insulated contact strips 75, 76, 77, 78, '79, 80, 81, corresponding in any two'succesive strips so that the contact 95 never engages more than one of the strips at any given tlme.

Preferably an'odd number of yielding contacts 65-71, of equal dimensions,- are pro vided', and these are preferably spaced evenly apart so that as the vessel and the lower disc 40 rotate with respect to the upper disc 37 in either direction, a relative rotation of the strip of insulation 62 from a central position successively through a predetermined number of equal arcs will cause the strip 62 to be brought into engagement successively with an equal number of the yielding contacts. In Fig. 2 the yielding contacts are shown as spaced apart an angular distance of about ten degrees, but this angle maybe varied within wide limits. The fixed contact strips -81 are preferably (but not necessarily) so proportioned and arranged that when the rudder is in a. central position as shown, the reciprocatory contact 95 will be in the center of the central strip 78, and so that if the rudder is then moved about its axis successively through a given number of predetermined arcs in either direction, the contact 95 will be brought successively into engagement with an equal number of strips 77, 76 and 75 in one direction, or 79, 80 and 81 in the other direction.

It is evident/that by varying the lengths and arrangement of the strips 7 5-81, the angular movement of the rudder necessary to move the contact 95 from the center of one strip 7581 to the center of an adjacent strip may be varied as may be desired.

Arranged to reciprocate in a valve casing. 99 which is fixed to the vessel is a cylindrical piston valve 100v the ends of which are extended in the form of cores 101 and 102 which are arranged to reciprocate in and to be automatically controlled by fixed solenoids 103 and 104 which are arranged to be alternately energized by means of abattery 105 or'other source of electric energy which has one pole connected by a. conductor 106 and branch conductor 107 to one end of each of the, windings of the two solenoids while the other pole of the battery is connected by a conductor 108 with the reciprocatory contact 95. The other ends of the windings of the two solenoids are connected by conductors 109 and 110 and through conductors 85 and 91 with the fixed contact strips 75 and l with the casin open to its exhaust port 124.

and 81. The reciprocatory valve 100 isprovided with three annular recesses, 115, 116 and 117, and the valve casing 99 is connected by a supply pipe 120 with the source of compressed air 25 and by two pipes 121 and 122 31 of the rotary valve 30, and is provide with two exhaust ports 123 and 124. The valve 100 is normally held in the central position shown in Fig. 1 by means of opposed spiral springs 125 and 126 surrounding the cores 101- and 102 and when so positionedthe supply pipe 120 is kept closed by the valve 100, and the two pipes 121 and. 122 are open to exhaust through the two .e-xhaust rts 123 and 124 respectively. When the so enoid' 103 is energized the valve 100 will be moved towards the left and will cut off the exhaust port 123 from the pipe 121 and connect the latter with the supply pipe 120, at the same time leaving the ipe 122 hen the other solenoid 104 is energized the process will be reversed.

The rotary valve 30 is provided with an annular recess 130, and with two oppositely arranged short longitudinal recesses 131 and 132 leading inwardly therefrom and arranged to connect the pipe 52 at every halfrevolution of the valve to an exhaust port 133 provided therefor in the valve casing 31.

' The rotary valve is also provided with two oppositely disposed longitudinal recesses 134 and 135 arranged to simultaneously connect the pipe 121 with the pipe 32 and the pipe 122 with the pipe 33 at every half revolution of the valve, and at the same time that the pipe 52. is connected to the exhaust port 133. The. rotary valve is also 'rovided with an annular recess 136 and wit three short longitudinal recesses 137, 137 and 138 leading therefrom and with an annular recess '139 ing, when the valve has been rotated through 90 degrees in a clockwise direction (looking in direction of arrow A) from the position shown in Fig. 1; and to simultaneously connect the pipes 52 and 33 to the supply pipe 34, and the pipe 32 to the exhaust port 141 when the valve has been rotated in a clockwise direction through 270 degrees from the position shown.

The rotary valve 30 maybe selectively rotated step by step through 90' degrees ateach step in any well known or suitable manner. in the form shown the valve is arranged tobe controlled from distance in response to radiant energy, and for this purpose is provided with a pinion 145 loosely mounted thereon which carries a spring pressed pawl 146 pivotally connected thereto and arranged to cooperate with a ratchet wheel 147 rigidly secured to the valve 30. The pinion is engaged by a reciprocatory rack 148 which forms one end of'a piston rod which reciprocates in a "cylinder 149 and which is pro-- vided within the cylinder with a piston (not shown). The cylinder. 149 is connected to the source of air supply by a pipe 150 and the admission ofair from the pi e 150 into the cylinder and the exhaust of air from the cylinder is controlled by a reciprocatory "alve 151 controlled by a solenoid 152 which is in a circuit 153including a battery 154 and a normally open switch 155, controlled by a solenoid 156 in a closed oscillatory circuit including anysuitable detector 157 condensers 158 and an inductance 159 which forms the scribed for operating the. valve 30, and instead of operating the valve 30 by radiant energy from a distance, it might be operated by any well known or suitable means* located on the vessel and controlled by an operator on the vessel.

In the operation of this system, when it is desired to have the vesselcontrolled or stabilized automatically'in response to the action of the gyroscope, the rotary valve 30 is set either as shown in the drawings or in a position at 180 degrees thereto, and when in either or these positions the air will be released from the cylinder 41 as hereinbefore described thus permitting the clutch member 48 to be moved upwardly by the spring 46 and thus clamping the disc 37 to the stem 35 whereupon the disc 37 will be held against rotation in space by the gyroscope and any movement or rotation of the vessel away from its course in either direction will rotate the yielding contacts -71 with respect to the'segmental con tacts 60 and 61 and the insulating strip 62,

and this would cause the rudder to be shifted to bring the vessel back to its course. For example, when the parts are in the position shown in Fig. 1, the central yielding contact 68 is onthe insulating strip 62 and no current can fiow from the battery 105 through either of the solenoids 103 and 104, and consequently both ends of the cylinder 18 remain open to exhaust and the rudder is notafi'ected; but now if the vessel should be diverted from its course less than ten degrees towards the starboard or right by the action of the wind or a current of water or by any other cause, the yielding contacts would ,be moved clockwise with respect to the insulation 62 which would be brought into a position between the yielding contacts 68 and 69, and the yieldin contact 68'wou'ld be in engagement with t e segmental'cons tact 60, and current would flow from the battery 105 through the solenoid'103 drawing the valve 100110 the left and admitting compressed air from source 25 through pipes 120, 121-and 32 to the left hand end of cylin-' 95 to engage the contact strip 79 the solenoid;

103 would be dee'nergized and the solenoid 104 energizedito'reverse the movement of the piston, and there might be a Vibration of the piston throwing the contact 95 back and forth between the strips 78 and 79 until the vessel should be restore-l approximately to its original course. If the vessel should be diverted towards the right from the posi tion shown more than 10 degrees but less than 20 degrees, the insulating strip 62 would lie between yielding contacts 69 and 70 and the solenoid 103 would be energized and would cause the piston 17 to be moved to the right within the limits of the strips 78 and 79, but if the piston should be moved to the right beyond this and sufficient to bring the contact 95 upon the 'sti'iiYBO, it is evident that then there would be a reversal of the movement of the piston and possibly a vibration of the piston throwing the contact 95 back and forth between the strips 79 and 80 followed perhaps by a vibration of the contact 95 between the strips 78 and 79 until the vessel should be restored approximately to its original course. If the vessel deviates to the right more than 20 degrees but less than 30 degrees, the insulation strip- 62 will take up a position between contacts 70 and 71 and the contact 95 will vibrate between the contacts 80 and 81 until the boat is less than 20 degrees but more than 10 degrees off of its course, when the contact 95 will vibrate between contacts 79 and 80 until the boat is less than 10 degrees of! of its course when the contact 95 will vibrate between contacts 78 and 79 until the boat is brought back to its true course. When the vessel is diverted to the port or left, the process is reversed. It is therefore evident that the greater the angle through which the vessel is diverted, the greater is the angle through which the rudder is swung to automatically return the vessel to its original course. The number of segments 7581 and the corresponding contacts 65-71 may be increased or decreased any desired amount, thus giving as many steps as desired the steps being of any suitable size.

When it is desired to steer the vemel seof separate impulses or signals of radiant energy are sent b the operator at the distant control station to rotate the rotary valve 30 step by step into the proper position to accomplish'the desired result, each separate impulse or signal being received by the open aerial circuit 160-162 and be ing effective to energize the solenoid 156 to close the switch 155, thus energizing the solenoid 152 and causing the valve 30 to be rotated through one step or in the case shown through 90 degrees. WVhen' it is de sired to steer the vessel to the right the rotary valve is thus rotated from the position shown through 270 degrees into such a position that the pipes 52 and 33 will be connected through pipe 34 to the source-of compressed air 25 and the pipe 32 will be connected to the exhaust port 141 through the longitudinal passage 140 of the valve. 9 In this position of thevalve 30 the disc 37 will be disconnected fromithe stem 35'and returned to and held in a central position by the arms 55 and the piston 17 will be moved towards-the left thus steering the vessel towards: the right. When it is desired to steer the vessel towards the left, the valve 30 is rotated one step or through 90 degrees from the position shown into a position in Which the pipes 52 and 32 will be connected through the pipe 34 with the source of compressed air 25 and the disc 37v will be dis connected from the stem 35 and returned to and held in a central position, and the piston 17 will be forced towards the right thus steering the vessel towards the left.

. After the vessel has been steered selectively either to the right or to the left it may be placed again under the control of the gyroscope by rotating the valve 30 through one step in response to a signal of radiant energy, and if when the control of the vessel by the gyroscope is thus established the rudder should be out of its central position an amount sufiicient to cause the reciprocatory contact 95 to be in engagement with any of the fixed contacts 7 581 other than the central contact 78, itis evident that current would flow from the battery 105 through the corresponding solenoid 103 or 104 to cause the piston 17 and the rudder to be returned towards a central position to bring the contact 95 into engagement with the central contact strip 78, whereupon the vessel would be automatically maintained upon a fixed course by the action of the gyroscope until such a time as the operator at the distant station should assume control as hereinbefore described.v

Although only a single form has been illustrated in which this invention may be embodied, it is to be understood that the invention is not limited to any particular connasal;

claims.

Having thus fully described this invention, it claim 1. In a control system, a movable body, a rudder ton directing said body angularly, means for controlling said rudder, a gyroscope, a pair of electric circuits, electric controlled devices in each circuit, two series of contacts common to said circuits, one series being controlled by the movement of said body and the other series by said gyroscope,

1'; means'under the control of said devices for actuating said rudder controlling means when one or the other of said devices is energized by the closing of anyflof said contacts and means for automatically braking one circuit and energizing the other after said rudder has reached a predetermined position.

2. In a control system, a movable body, a rudder for directing said body angularly, means for shifting said rudder, .two sets of devices for controlling said shifting means, one of said sets operating to shift said rudder in one direction and the other set operating to shift said rudder in the opposite direction, means controlled by the movement of said body from its predetermined'course operate one of said sets to shift said rudder, and means controlled by the movement of said body to operate the other set to limit the movement of said rudder.

8. In a control system, a movable body, a rudder for directing said body angularly, means for shifting said rudder, two sets of devices for controlling said shifting means, one of said sets operating to shift said rudder in one direction and the other set )perating to shift saidrudder in the oppr site direction, and means controlled by the movement of said body from its predetermined course to operate both sets alternately when said rudder completes a turningmovement proportioned to the angle of deviation of said body.

at. In a control system, a movable body, a rudder for directing said body angularly, means for shifting said rudder, two sets of devices for controlling said shifting means, one of said sets operatin to shift said rudder in one direction and t e other set operating to shift said rudder in the opposite direction, means controlled by the movement of said body from its predetermined course to operate one of said sets to shift said'rudder, and means for causing the operation of the other set after said rudder has moved throu h a predetermined angle.

5. n aoontrol system, a movable body, means for steering. the body through space, a plurality of electromagnets for controlling the course of the body, gyroscope means and.

means for controliin the magnets including a pluralityof electrical contact linger '2 taking of the movement of the body segments ailincd to the gyriscope, 1 connecting the contact rs into and other means oy the s/ Y L arrange system, 1-. vessel haying an electrically operated helm, contacts arranged in rows, means automaticaliy operated upon divergence of the vessel from its aredetermined course for selectively engaging a contact in one ofthe rows according to the extent and direction of divergence, and means including another row or" contacts for re"- versing the helm np'on excessive operation of the helm.

7. In a control system, the combination of a movable body, a plurality of spaced electrical contacts positioned on said body and partaking of the movement thereof through space, means fixed space adapted to connect the contacts together in groups, means for steering the body through space, means for each of the groups for actuating the steering means in a different direction, and means controlled by the steering means for varying the grouping of the contacts.

8. In a control system, the combination of a movable body, a plurality of spaced electrical contacts positioned on said body and partaking of the movement thereof through space, means fixed in space adapted to connect the contacts together in groups, means for steering the body through space, means for each of the groups for actuating the steering means in a different direction, and means actuated when the course or the body is modified to excess.

9. in a control system, the combination of a movable body, a plurality of spaced electrical contacts positioned on said body and partaking of the movement thereof through space, a plurality of contacts fixed in space adapted to connect the contacts together in groups, means for steering the body through space, means for each of the groups for actuatingthe steering means in a different direction, and means controlled by the steering means for varying the group ing of the contacts.

10. In a control system, the combination of a movable body, a plurality of spaced electrical contacts positioned on said body and partaking of the movement thereof through space, means fixed in space adapted to connect the contacts together in groups, means for steering the body through space, means for each of the groups for selectively actuating the steering means in a different direction, and means controlled by the steering means for varying the grouping of the contacts.

11. In a control system, a movable body, means for varying the direction of move 180 ment of the body, and control means for said contact finger, and means operatively connected with the direction varying means for modifying the electrical connections to the fingers.

12. In a control system, a movable body, a rudder-for steering the body, and control means for said rudder comprising contact. members fixed in space, a plurality of con tact fingers operatively engaging said contact members and movable relatively thereto in accordance with divergence of the movable body from a predetermined course, a corresponding plurality of other circuit control members each electrically connected to a respective contact finger, and means operatively connected with t, the rudder for modifying the electrical connections to the fingers.

13. In a control system, a movable body a plurality of electrical contacts positioned on said body and partaking of the movement thereof in space, means for varying the direction of movement of the movable body including a pair of electromagnets, means fixed in space for connecting the cont'acts'to said magnets in groups, means independent thereof for changing the electrical grouping, and a' source of enery for caus-v circuits for controlling the helm in diflerent directions, a plurality of jumper connections common to said circuits, means for including in each branch circuit a variable number of the jumper circuits according to the angle of divergence of the vessel from a pre determined course, and means controlled by the helmand including the jumper circuits for selectively actuating one of the branch circuits to prevent excessive displacement of the helm. 4

Signed at New York, in the. county of New York and State of New York, this 25th day of October, A. D. 1915.

' ALBERT DITRENOR.

' \Vitnesses:

A. I. GARDNER, W. S. ORTON. 

